<!-- HTML header for doxygen 1.8.6-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">

<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta content="text/xhtml;charset=utf-8" http-equiv="Content-Type"/>
<meta content="IE=9" http-equiv="X-UA-Compatible"/>
<meta content="Doxygen 1.8.13" name="generator"/>
<title>OpenCV: RGB-Depth Processing</title>
<link href="../../opencv.ico" rel="shortcut icon" type="image/x-icon"/>
<link href="../../tabs.css" rel="stylesheet" type="text/css"/>
<script src="../../jquery.js" type="text/javascript"></script>
<script src="../../dynsections.js" type="text/javascript"></script>
<script src="../../tutorial-utils.js" type="text/javascript"></script>
<link href="../../search/search.css" rel="stylesheet" type="text/css"/>
<script src="../../search/searchdata.js" type="text/javascript"></script>
<script src="../../search/search.js" type="text/javascript"></script>
<script type="text/x-mathjax-config">
  MathJax.Hub.Config({
    extensions: ["tex2jax.js", "TeX/AMSmath.js", "TeX/AMSsymbols.js"],
    jax: ["input/TeX","output/HTML-CSS"],
});
//<![CDATA[
MathJax.Hub.Config(
{
  TeX: {
      Macros: {
          matTT: [ "\\[ \\left|\\begin{array}{ccc} #1 & #2 & #3\\\\ #4 & #5 & #6\\\\ #7 & #8 & #9 \\end{array}\\right| \\]", 9],
          fork: ["\\left\\{ \\begin{array}{l l} #1 & \\mbox{#2}\\\\ #3 & \\mbox{#4}\\\\ \\end{array} \\right.", 4],
          forkthree: ["\\left\\{ \\begin{array}{l l} #1 & \\mbox{#2}\\\\ #3 & \\mbox{#4}\\\\ #5 & \\mbox{#6}\\\\ \\end{array} \\right.", 6],
          forkfour: ["\\left\\{ \\begin{array}{l l} #1 & \\mbox{#2}\\\\ #3 & \\mbox{#4}\\\\ #5 & \\mbox{#6}\\\\ #7 & \\mbox{#8}\\\\ \\end{array} \\right.", 8],
          vecthree: ["\\begin{bmatrix} #1\\\\ #2\\\\ #3 \\end{bmatrix}", 3],
          vecthreethree: ["\\begin{bmatrix} #1 & #2 & #3\\\\ #4 & #5 & #6\\\\ #7 & #8 & #9 \\end{bmatrix}", 9],
          cameramatrix: ["#1 = \\begin{bmatrix} f_x & 0 & c_x\\\\ 0 & f_y & c_y\\\\ 0 & 0 & 1 \\end{bmatrix}", 1],
          distcoeffs: ["(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \\tau_x, \\tau_y]]]]) \\text{ of 4, 5, 8, 12 or 14 elements}"],
          distcoeffsfisheye: ["(k_1, k_2, k_3, k_4)"],
          hdotsfor: ["\\dots", 1],
          mathbbm: ["\\mathbb{#1}", 1],
          bordermatrix: ["\\matrix{#1}", 1]
      }
  }
}
);
//]]>
</script><script src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.0/MathJax.js" type="text/javascript"></script>
<link href="../../doxygen.css" rel="stylesheet" type="text/css"/>
<link href="../../stylesheet.css" rel="stylesheet" type="text/css"/>
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<!--#include virtual="/google-search.html"-->
<table cellpadding="0" cellspacing="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectlogo"><img alt="Logo" src="../../opencv-logo-small.png"/></td>
  <td style="padding-left: 0.5em;">
   <div id="projectname">OpenCV
    <span id="projectnumber">4.5.2</span>
   </div>
   <div id="projectbrief">Open Source Computer Vision</div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.13 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "../../search",false,'Search');
</script>
<script src="../../menudata.js" type="text/javascript"></script>
<script src="../../menu.js" type="text/javascript"></script>
<script type="text/javascript">
$(function() {
  initMenu('../../',true,false,'search.php','Search');
  $(document).ready(function() { init_search(); });
});
</script>
<div id="main-nav"></div>
</div><!-- top -->
<!-- window showing the filter options -->
<div id="MSearchSelectWindow" onkeydown="return searchBox.OnSearchSelectKey(event)" onmouseout="return searchBox.OnSearchSelectHide()" onmouseover="return searchBox.OnSearchSelectShow()">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe frameborder="0" id="MSearchResults" name="MSearchResults" src="javascript:void(0)">
</iframe>
</div>
<div class="header">
  <div class="summary">
<a href="#nested-classes">Classes</a> |
<a href="#func-members">Functions</a>  </div>
  <div class="headertitle">
<div class="title">RGB-Depth Processing</div>  </div>
</div><!--header-->
<div class="contents">
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d64/classcv_1_1linemod_1_1ColorGradient.html">cv::linemod::ColorGradient</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html" title="Interface for modalities that plug into the LINE template matching representation. ">Modality</a> that computes quantized gradient orientations from a color image.  <a href="../../dc/d64/classcv_1_1linemod_1_1ColorGradient.html#details">More...</a><br/></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d5e/classcv_1_1rgbd_1_1DepthCleaner.html">cv::rgbd::DepthCleaner</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d47/classcv_1_1linemod_1_1DepthNormal.html">cv::linemod::DepthNormal</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html" title="Interface for modalities that plug into the LINE template matching representation. ">Modality</a> that computes quantized surface normals from a dense depth map.  <a href="../../d7/d47/classcv_1_1linemod_1_1DepthNormal.html#details">More...</a><br/></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d07/classcv_1_1linemod_1_1Detector.html">cv::linemod::Detector</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Object detector using the LINE template matching algorithm with any set of modalities.  <a href="../../d7/d07/classcv_1_1linemod_1_1Detector.html#details">More...</a><br/></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html">cv::rgbd::FastICPOdometry</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/db9/structcv_1_1linemod_1_1Feature.html">cv::linemod::Feature</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Discriminant feature described by its location and label.  <a href="../../d9/db9/structcv_1_1linemod_1_1Feature.html#details">More...</a><br/></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d83/classcv_1_1rgbd_1_1ICPOdometry.html">cv::rgbd::ICPOdometry</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/da0/structcv_1_1linemod_1_1Match.html">cv::linemod::Match</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Represents a successful template match.  <a href="../../d9/da0/structcv_1_1linemod_1_1Match.html#details">More...</a><br/></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html">cv::linemod::Modality</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Interface for modalities that plug into the LINE template matching representation.  <a href="../../d5/d1c/classcv_1_1linemod_1_1Modality.html#details">More...</a><br/></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">cv::rgbd::Odometry</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">cv::rgbd::OdometryFrame</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6f/classcv_1_1linemod_1_1QuantizedPyramid.html">cv::linemod::QuantizedPyramid</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Represents a modality operating over an image pyramid.  <a href="../../d7/d6f/classcv_1_1linemod_1_1QuantizedPyramid.html#details">More...</a><br/></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d9c/structcv_1_1rgbd_1_1RgbdFrame.html">cv::rgbd::RgbdFrame</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html">cv::rgbd::RgbdICPOdometry</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d5b/classcv_1_1rgbd_1_1RgbdNormals.html">cv::rgbd::RgbdNormals</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d60/classcv_1_1rgbd_1_1RgbdOdometry.html">cv::rgbd::RgbdOdometry</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d50/classcv_1_1rgbd_1_1RgbdPlane.html">cv::rgbd::RgbdPlane</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td align="right" class="memItemLeft" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/dc7/structcv_1_1linemod_1_1Template.html">cv::linemod::Template</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:gaf3cb84fcb9d153e9118ce05ac85a9661"><td align="right" class="memItemLeft" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#gaf3cb84fcb9d153e9118ce05ac85a9661">cv::linemod::QuantizedPyramid::Candidate::Candidate</a> (int x, int y, int label, float <a class="el" href="../../df/da3/structcv_1_1linemod_1_1QuantizedPyramid_1_1Candidate.html#afbac5d07850cb1d7fc6f09cb2d09ffdf">score</a>)</td></tr>
<tr class="separator:gaf3cb84fcb9d153e9118ce05ac85a9661"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gac46f8de81ef5948eeac596c735e80371"><td align="right" class="memItemLeft" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#gac46f8de81ef5948eeac596c735e80371">cv::linemod::Feature::Feature</a> (int <a class="el" href="../../d9/db9/structcv_1_1linemod_1_1Feature.html#a445dee011bbacdec3804f06e189b98c2">x</a>, int <a class="el" href="../../d9/db9/structcv_1_1linemod_1_1Feature.html#af91bdb559ad6e703cbc53825a06e0636">y</a>, int <a class="el" href="../../d9/db9/structcv_1_1linemod_1_1Feature.html#a133323310843f8616f63d49ca8eec510">label</a>)</td></tr>
<tr class="separator:gac46f8de81ef5948eeac596c735e80371"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga0ee629062c3c2745dba41a3e3605ff49"><td align="right" class="memItemLeft" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#ga0ee629062c3c2745dba41a3e3605ff49">cv::linemod::Match::Match</a> (int <a class="el" href="../../d9/da0/structcv_1_1linemod_1_1Match.html#a705852d4e1cbfae2f0100f8ee2bf599b">x</a>, int <a class="el" href="../../d9/da0/structcv_1_1linemod_1_1Match.html#a255ad4ee76705dfdd30ccf07e969b84d">y</a>, float <a class="el" href="../../d9/da0/structcv_1_1linemod_1_1Match.html#a4da5f6ba2c636df795c478edd4d3bc5a">similarity</a>, const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;<a class="el" href="../../d9/da0/structcv_1_1linemod_1_1Match.html#a9b8335ac92b58248eecd9d3069e4cd22">class_id</a>, int <a class="el" href="../../d9/da0/structcv_1_1linemod_1_1Match.html#a35299ee9799423ba150fc699bb0e65dd">template_id</a>)</td></tr>
<tr class="separator:ga0ee629062c3c2745dba41a3e3605ff49"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaa6148fb2b9582f983782fdc89afe3384"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#gaa6148fb2b9582f983782fdc89afe3384">cv::linemod::colormap</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;quantized, <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;dst)</td></tr>
<tr class="memdesc:gaa6148fb2b9582f983782fdc89afe3384"><td class="mdescLeft"> </td><td class="mdescRight">Debug function to colormap a quantized image for viewing.  <a href="../../d2/d3a/group__rgbd.html#gaa6148fb2b9582f983782fdc89afe3384">More...</a><br/></td></tr>
<tr class="separator:gaa6148fb2b9582f983782fdc89afe3384"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga403eeb581b09684f7e24f7c157086dd6"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#ga403eeb581b09684f7e24f7c157086dd6">cv::rgbd::depthTo3d</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> depth, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> K, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> points3d, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> mask=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="separator:ga403eeb581b09684f7e24f7c157086dd6"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga76a9cadc808e7262f391d94fdc262b9e"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#ga76a9cadc808e7262f391d94fdc262b9e">cv::rgbd::depthTo3dSparse</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> depth, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> in_K, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> in_points, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> points3d)</td></tr>
<tr class="separator:ga76a9cadc808e7262f391d94fdc262b9e"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga0a8042ae6ca72f3da2f441be6e117bd9"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#ga0a8042ae6ca72f3da2f441be6e117bd9">cv::linemod::drawFeatures</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> img, const std::vector&lt; <a class="el" href="../../d2/dc7/structcv_1_1linemod_1_1Template.html">Template</a> &gt; &amp;templates, const <a class="el" href="../../dc/d84/group__core__basic.html#ga0f70b52f0c0b119f7ed2448ffebdc144">Point2i</a> &amp;tl, int size=10)</td></tr>
<tr class="memdesc:ga0a8042ae6ca72f3da2f441be6e117bd9"><td class="mdescLeft"> </td><td class="mdescRight">Debug function to draw linemod features.  <a href="../../d2/d3a/group__rgbd.html#ga0a8042ae6ca72f3da2f441be6e117bd9">More...</a><br/></td></tr>
<tr class="separator:ga0a8042ae6ca72f3da2f441be6e117bd9"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gabf51ba9cd5499dd43aee9ba44714645c"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d07/classcv_1_1linemod_1_1Detector.html">linemod::Detector</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#gabf51ba9cd5499dd43aee9ba44714645c">cv::linemod::getDefaultLINE</a> ()</td></tr>
<tr class="memdesc:gabf51ba9cd5499dd43aee9ba44714645c"><td class="mdescLeft"> </td><td class="mdescRight">Factory function for detector using LINE algorithm with color gradients.  <a href="../../d2/d3a/group__rgbd.html#gabf51ba9cd5499dd43aee9ba44714645c">More...</a><br/></td></tr>
<tr class="separator:gabf51ba9cd5499dd43aee9ba44714645c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga6157f4afc201b68be87dd9a607bbcefb"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d07/classcv_1_1linemod_1_1Detector.html">linemod::Detector</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#ga6157f4afc201b68be87dd9a607bbcefb">cv::linemod::getDefaultLINEMOD</a> ()</td></tr>
<tr class="memdesc:ga6157f4afc201b68be87dd9a607bbcefb"><td class="mdescLeft"> </td><td class="mdescRight">Factory function for detector using LINE-MOD algorithm with color gradients and depth normals.  <a href="../../d2/d3a/group__rgbd.html#ga6157f4afc201b68be87dd9a607bbcefb">More...</a><br/></td></tr>
<tr class="separator:ga6157f4afc201b68be87dd9a607bbcefb"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaec2aff91f8f0600fb7024f57ca9c52c9"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#gaec2aff91f8f0600fb7024f57ca9c52c9">cv::rgbd::isValidDepth</a> (const float &amp;depth)</td></tr>
<tr class="separator:gaec2aff91f8f0600fb7024f57ca9c52c9"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga34e1c9295a7216be59ca4da67d1f5eed"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#ga34e1c9295a7216be59ca4da67d1f5eed">cv::rgbd::isValidDepth</a> (const double &amp;depth)</td></tr>
<tr class="separator:ga34e1c9295a7216be59ca4da67d1f5eed"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga74ef1e077263eb737b6349d3d3158f2f"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#ga74ef1e077263eb737b6349d3d3158f2f">cv::rgbd::isValidDepth</a> (const short int &amp;depth)</td></tr>
<tr class="separator:ga74ef1e077263eb737b6349d3d3158f2f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gafb08f97f37ed0cda66e4f9c47828a0ff"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#gafb08f97f37ed0cda66e4f9c47828a0ff">cv::rgbd::isValidDepth</a> (const unsigned short int &amp;depth)</td></tr>
<tr class="separator:gafb08f97f37ed0cda66e4f9c47828a0ff"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga1d690fd424b88e2933705f641c59ac44"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#ga1d690fd424b88e2933705f641c59ac44">cv::rgbd::isValidDepth</a> (const int &amp;depth)</td></tr>
<tr class="separator:ga1d690fd424b88e2933705f641c59ac44"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga8821699754cadee8a0f04f0622b673c7"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#ga8821699754cadee8a0f04f0622b673c7">cv::rgbd::isValidDepth</a> (const unsigned int &amp;depth)</td></tr>
<tr class="separator:ga8821699754cadee8a0f04f0622b673c7"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga0df0ea008a0a040251180f498adb6609"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#ga0df0ea008a0a040251180f498adb6609">cv::rgbd::registerDepth</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> unregisteredCameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> registeredCameraMatrix, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> registeredDistCoeffs, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> Rt, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> unregisteredDepth, const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;outputImagePlaneSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> registeredDepth, bool depthDilation=false)</td></tr>
<tr class="separator:ga0df0ea008a0a040251180f498adb6609"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaa233152ac22391dfa4dd080b9d0bb136"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#gaa233152ac22391dfa4dd080b9d0bb136">cv::rgbd::rescaleDepth</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> in, int depth, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> out, double depth_factor=1000.0)</td></tr>
<tr class="separator:gaa233152ac22391dfa4dd080b9d0bb136"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gac0db6aeba01fa17ec2c69694497926f0"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d3a/group__rgbd.html#gac0db6aeba01fa17ec2c69694497926f0">cv::rgbd::warpFrame</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;image, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;depth, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;mask, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;Rt, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;cameraMatrix, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;distCoeff, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> warpedImage, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> warpedDepth=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>(), <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> warpedMask=<a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>())</td></tr>
<tr class="separator:gac0db6aeba01fa17ec2c69694497926f0"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a id="details" name="details"></a><h2 class="groupheader">Detailed Description</h2>
<h2 class="groupheader">Function Documentation</h2>
<a id="gaf3cb84fcb9d153e9118ce05ac85a9661"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gaf3cb84fcb9d153e9118ce05ac85a9661">◆ </a></span>Candidate()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">cv::linemod::QuantizedPyramid::Candidate::Candidate </td>
          <td>(</td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>label</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>score</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d7/d7a/linemod_8hpp.html">opencv2/rgbd/linemod.hpp</a>&gt;</code></p>
</div>
</div>
<a id="gac46f8de81ef5948eeac596c735e80371"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gac46f8de81ef5948eeac596c735e80371">◆ </a></span>Feature()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">cv::linemod::Feature::Feature </td>
          <td>(</td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>label</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d7/d7a/linemod_8hpp.html">opencv2/rgbd/linemod.hpp</a>&gt;</code></p>
</div>
</div>
<a id="ga0ee629062c3c2745dba41a3e3605ff49"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga0ee629062c3c2745dba41a3e3605ff49">◆ </a></span>Match()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">cv::linemod::Match::Match </td>
          <td>(</td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>similarity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp; </td>
          <td class="paramname"><em>class_id</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>template_id</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d7/d7a/linemod_8hpp.html">opencv2/rgbd/linemod.hpp</a>&gt;</code></p>
</div>
</div>
<a id="gaa6148fb2b9582f983782fdc89afe3384"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gaa6148fb2b9582f983782fdc89afe3384">◆ </a></span>colormap()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::linemod::colormap </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>quantized</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>dst</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>dst</td><td>=</td><td>cv.linemod.colormap(</td><td class="paramname">quantized[, dst]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d7/d7a/linemod_8hpp.html">opencv2/rgbd/linemod.hpp</a>&gt;</code></p>
<p>Debug function to colormap a quantized image for viewing. </p>
</div>
</div>
<a id="ga403eeb581b09684f7e24f7c157086dd6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga403eeb581b09684f7e24f7c157086dd6">◆ </a></span>depthTo3d()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::rgbd::depthTo3d </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>depth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>points3d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>mask</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>points3d</td><td>=</td><td>cv.rgbd.depthTo3d(</td><td class="paramname">depth, K[, points3d[, mask]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../db/d30/depth_8hpp.html">opencv2/rgbd/depth.hpp</a>&gt;</code></p>
<p>Converts a depth image to an organized set of 3d points. The coordinate system is x pointing left, y down and z away from the camera </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">depth</td><td>the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters (as done with the Microsoft Kinect), otherwise, if given as CV_32F or CV_64F, it is assumed in meters) </td></tr>
    <tr><td class="paramname">K</td><td>The calibration matrix </td></tr>
    <tr><td class="paramname">points3d</td><td>the resulting 3d points. They are of depth the same as <code>depth</code> if it is CV_32F or CV_64F, and the depth of <code>K</code> if <code>depth</code> is of depth CV_U </td></tr>
    <tr><td class="paramname">mask</td><td>the mask of the points to consider (can be empty) </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="ga76a9cadc808e7262f391d94fdc262b9e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga76a9cadc808e7262f391d94fdc262b9e">◆ </a></span>depthTo3dSparse()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::rgbd::depthTo3dSparse </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>depth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>in_K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>in_points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>points3d</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>points3d</td><td>=</td><td>cv.rgbd.depthTo3dSparse(</td><td class="paramname">depth, in_K, in_points[, points3d]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../db/d30/depth_8hpp.html">opencv2/rgbd/depth.hpp</a>&gt;</code></p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">depth</td><td>the depth image </td></tr>
    <tr><td class="paramname">in_K</td><td></td></tr>
    <tr><td class="paramname">in_points</td><td>the list of xy coordinates </td></tr>
    <tr><td class="paramname">points3d</td><td>the resulting 3d points </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="ga0a8042ae6ca72f3da2f441be6e117bd9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga0a8042ae6ca72f3da2f441be6e117bd9">◆ </a></span>drawFeatures()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::linemod::drawFeatures </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> </td>
          <td class="paramname"><em>img</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="../../d2/dc7/structcv_1_1linemod_1_1Template.html">Template</a> &gt; &amp; </td>
          <td class="paramname"><em>templates</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga0f70b52f0c0b119f7ed2448ffebdc144">Point2i</a> &amp; </td>
          <td class="paramname"><em>tl</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>size</em> = <code>10</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>img</td><td>=</td><td>cv.linemod.drawFeatures(</td><td class="paramname">img, templates, tl[, size]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d7/d7a/linemod_8hpp.html">opencv2/rgbd/linemod.hpp</a>&gt;</code></p>
<p>Debug function to draw linemod features. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">img</td><td></td></tr>
    <tr><td class="paramname">templates</td><td>see <a class="el" href="../../d7/d07/classcv_1_1linemod_1_1Detector.html#ab6baf396cefd388bcea8eb088487aeb0">Detector::addTemplate</a> </td></tr>
    <tr><td class="paramname">tl</td><td>template bbox top-left offset see <a class="el" href="../../d7/d07/classcv_1_1linemod_1_1Detector.html#ab6baf396cefd388bcea8eb088487aeb0">Detector::addTemplate</a> </td></tr>
    <tr><td class="paramname">size</td><td>marker size see <a class="el" href="../../d6/d6e/group__imgproc__draw.html#ga644c4a170d4799a56b29f864ce984b7e">cv::drawMarker</a> </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="gabf51ba9cd5499dd43aee9ba44714645c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gabf51ba9cd5499dd43aee9ba44714645c">◆ </a></span>getDefaultLINE()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d7/d07/classcv_1_1linemod_1_1Detector.html">linemod::Detector</a>&gt; cv::linemod::getDefaultLINE </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.linemod.getDefaultLINE(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d7/d7a/linemod_8hpp.html">opencv2/rgbd/linemod.hpp</a>&gt;</code></p>
<p>Factory function for detector using LINE algorithm with color gradients. </p>
<p>Default parameter settings suitable for VGA images. </p>
</div>
</div>
<a id="ga6157f4afc201b68be87dd9a607bbcefb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga6157f4afc201b68be87dd9a607bbcefb">◆ </a></span>getDefaultLINEMOD()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d7/d07/classcv_1_1linemod_1_1Detector.html">linemod::Detector</a>&gt; cv::linemod::getDefaultLINEMOD </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.linemod.getDefaultLINEMOD(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../d7/d7a/linemod_8hpp.html">opencv2/rgbd/linemod.hpp</a>&gt;</code></p>
<p>Factory function for detector using LINE-MOD algorithm with color gradients and depth normals. </p>
<p>Default parameter settings suitable for VGA images. </p>
</div>
</div>
<a id="gaec2aff91f8f0600fb7024f57ca9c52c9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gaec2aff91f8f0600fb7024f57ca9c52c9">◆ </a></span>isValidDepth() <span class="overload">[1/6]</span></h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool cv::rgbd::isValidDepth </td>
          <td>(</td>
          <td class="paramtype">const float &amp; </td>
          <td class="paramname"><em>depth</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../db/d30/depth_8hpp.html">opencv2/rgbd/depth.hpp</a>&gt;</code></p>
<p>Checks if the value is a valid depth. For CV_16U or CV_16S, the convention is to be invalid if it is a limit. For a float/double, we just check if it is a NaN </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">depth</td><td>the depth to check for validity </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="ga34e1c9295a7216be59ca4da67d1f5eed"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga34e1c9295a7216be59ca4da67d1f5eed">◆ </a></span>isValidDepth() <span class="overload">[2/6]</span></h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool cv::rgbd::isValidDepth </td>
          <td>(</td>
          <td class="paramtype">const double &amp; </td>
          <td class="paramname"><em>depth</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../db/d30/depth_8hpp.html">opencv2/rgbd/depth.hpp</a>&gt;</code></p>
</div>
</div>
<a id="ga74ef1e077263eb737b6349d3d3158f2f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga74ef1e077263eb737b6349d3d3158f2f">◆ </a></span>isValidDepth() <span class="overload">[3/6]</span></h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool cv::rgbd::isValidDepth </td>
          <td>(</td>
          <td class="paramtype">const short int &amp; </td>
          <td class="paramname"><em>depth</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../db/d30/depth_8hpp.html">opencv2/rgbd/depth.hpp</a>&gt;</code></p>
</div>
</div>
<a id="gafb08f97f37ed0cda66e4f9c47828a0ff"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gafb08f97f37ed0cda66e4f9c47828a0ff">◆ </a></span>isValidDepth() <span class="overload">[4/6]</span></h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool cv::rgbd::isValidDepth </td>
          <td>(</td>
          <td class="paramtype">const unsigned short int &amp; </td>
          <td class="paramname"><em>depth</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../db/d30/depth_8hpp.html">opencv2/rgbd/depth.hpp</a>&gt;</code></p>
</div>
</div>
<a id="ga1d690fd424b88e2933705f641c59ac44"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga1d690fd424b88e2933705f641c59ac44">◆ </a></span>isValidDepth() <span class="overload">[5/6]</span></h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool cv::rgbd::isValidDepth </td>
          <td>(</td>
          <td class="paramtype">const int &amp; </td>
          <td class="paramname"><em>depth</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../db/d30/depth_8hpp.html">opencv2/rgbd/depth.hpp</a>&gt;</code></p>
</div>
</div>
<a id="ga8821699754cadee8a0f04f0622b673c7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga8821699754cadee8a0f04f0622b673c7">◆ </a></span>isValidDepth() <span class="overload">[6/6]</span></h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool cv::rgbd::isValidDepth </td>
          <td>(</td>
          <td class="paramtype">const unsigned int &amp; </td>
          <td class="paramname"><em>depth</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../db/d30/depth_8hpp.html">opencv2/rgbd/depth.hpp</a>&gt;</code></p>
</div>
</div>
<a id="ga0df0ea008a0a040251180f498adb6609"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga0df0ea008a0a040251180f498adb6609">◆ </a></span>registerDepth()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::rgbd::registerDepth </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>unregisteredCameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>registeredCameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>registeredDistCoeffs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>Rt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>unregisteredDepth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp; </td>
          <td class="paramname"><em>outputImagePlaneSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>registeredDepth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool </td>
          <td class="paramname"><em>depthDilation</em> = <code>false</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>registeredDepth</td><td>=</td><td>cv.rgbd.registerDepth(</td><td class="paramname">unregisteredCameraMatrix, registeredCameraMatrix, registeredDistCoeffs, Rt, unregisteredDepth, outputImagePlaneSize[, registeredDepth[, depthDilation]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../db/d30/depth_8hpp.html">opencv2/rgbd/depth.hpp</a>&gt;</code></p>
<p>Registers depth data to an external camera Registration is performed by creating a depth cloud, transforming the cloud by the rigid body transformation between the cameras, and then projecting the transformed points into the RGB camera.</p>
<p>uv_rgb = K_rgb * [R | t] * z * inv(K_ir) * uv_ir</p>
<p>Currently does not check for negative depth values.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">unregisteredCameraMatrix</td><td>the camera matrix of the depth camera </td></tr>
    <tr><td class="paramname">registeredCameraMatrix</td><td>the camera matrix of the external camera </td></tr>
    <tr><td class="paramname">registeredDistCoeffs</td><td>the distortion coefficients of the external camera </td></tr>
    <tr><td class="paramname">Rt</td><td>the rigid body transform between the cameras. Transforms points from depth camera frame to external camera frame. </td></tr>
    <tr><td class="paramname">unregisteredDepth</td><td>the input depth data </td></tr>
    <tr><td class="paramname">outputImagePlaneSize</td><td>the image plane dimensions of the external camera (width, height) </td></tr>
    <tr><td class="paramname">registeredDepth</td><td>the result of transforming the depth into the external camera </td></tr>
    <tr><td class="paramname">depthDilation</td><td>whether or not the depth is dilated to avoid holes and occlusion errors (optional) </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="gaa233152ac22391dfa4dd080b9d0bb136"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gaa233152ac22391dfa4dd080b9d0bb136">◆ </a></span>rescaleDepth()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::rgbd::rescaleDepth </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>in</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>depth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>out</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double </td>
          <td class="paramname"><em>depth_factor</em> = <code>1000.0</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>out</td><td>=</td><td>cv.rgbd.rescaleDepth(</td><td class="paramname">in, depth[, out[, depth_factor]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../db/d30/depth_8hpp.html">opencv2/rgbd/depth.hpp</a>&gt;</code></p>
<p>If the input image is of type CV_16UC1 (like the Kinect one), the image is converted to floats, divided by depth_factor to get a depth in meters, and the values 0 are converted to std::numeric_limits&lt;float&gt;::quiet_NaN() Otherwise, the image is simply converted to floats </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">in</td><td>the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters (as done with the Microsoft Kinect), it is assumed in meters) </td></tr>
    <tr><td class="paramname">depth</td><td>the desired output depth (floats or double) </td></tr>
    <tr><td class="paramname">out</td><td>The rescaled float depth image </td></tr>
    <tr><td class="paramname">depth_factor</td><td>(optional) factor by which depth is converted to distance (by default = 1000.0 for Kinect sensor) </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="gac0db6aeba01fa17ec2c69694497926f0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gac0db6aeba01fa17ec2c69694497926f0">◆ </a></span>warpFrame()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::rgbd::warpFrame </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>depth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>mask</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>Rt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>distCoeff</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>warpedImage</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>warpedDepth</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>warpedMask</em> = <code><a class="el" href="../../dc/d84/group__core__basic.html#gad9287b23bba2fed753b36ef561ae7346">noArray</a>()</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>warpedImage, warpedDepth, warpedMask</td><td>=</td><td>cv.rgbd.warpFrame(</td><td class="paramname">image, depth, mask, Rt, cameraMatrix, distCoeff[, warpedImage[, warpedDepth[, warpedMask]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p><code>#include &lt;<a class="el" href="../../db/d30/depth_8hpp.html">opencv2/rgbd/depth.hpp</a>&gt;</code></p>
<p>Warp the image: compute 3d points from the depth, transform them using given transformation, then project color point cloud to an image plane. This function can be used to visualize results of the <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">Odometry</a> algorithm. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">image</td><td>The image (of CV_8UC1 or CV_8UC3 type) </td></tr>
    <tr><td class="paramname">depth</td><td>The depth (of type used in depthTo3d fuction) </td></tr>
    <tr><td class="paramname">mask</td><td>The mask of used pixels (of CV_8UC1), it can be empty </td></tr>
    <tr><td class="paramname">Rt</td><td>The transformation that will be applied to the 3d points computed from the depth </td></tr>
    <tr><td class="paramname">cameraMatrix</td><td>Camera matrix </td></tr>
    <tr><td class="paramname">distCoeff</td><td>Distortion coefficients </td></tr>
    <tr><td class="paramname">warpedImage</td><td>The warped image. </td></tr>
    <tr><td class="paramname">warpedDepth</td><td>The warped depth. </td></tr>
    <tr><td class="paramname">warpedMask</td><td>The warped mask. </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
</div><!-- contents -->
<!-- HTML footer for doxygen 1.8.6-->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated on Fri Apr 2 2021 11:36:41 for OpenCV by  <a href="http://www.doxygen.org/index.html">
<img alt="doxygen" class="footer" src="../../doxygen.png"/>
</a> 1.8.13
</small></address>
<script type="text/javascript">
//<![CDATA[
addTutorialsButtons();
//]]>
</script>
</body>
</html>
